CN113311332A - Demagnetization fault diagnosis device and method for permanent magnet of high-speed permanent magnet synchronous motor - Google Patents
Demagnetization fault diagnosis device and method for permanent magnet of high-speed permanent magnet synchronous motor Download PDFInfo
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Abstract
本发明涉及一种高速永磁同步电机永磁体退磁故障的诊断装置及方法，该诊断装置包括：高速永磁同步电机、缠绕在电机定子上的探测线圈、数据处理电路。该装置利用高速永磁同步电机运行时其定子上缠绕的探测线圈中产生的感应电势信号，通过数据处理算法得到此感应电势信号的三维频谱图，将该三维频谱图与高速永磁同步电机正常运行情况下得到的三维频谱图对比，最后根据比较结果进行高速永磁同步电机永磁体退磁故障的诊断。该装置可以对高速永磁同步电机永磁体退磁故障进行有效的在线检测，而且可以判断出永磁体退磁故障模式并且精准判断出永磁体退磁故障发生的具体位置，适用于包含高速永磁同步电机的系统进行退磁故障的诊断。
The invention relates to a high-speed permanent magnet synchronous motor permanent magnet demagnetization fault diagnosis device and method. The diagnosis device comprises: a high-speed permanent magnet synchronous motor, a detection coil wound on the motor stator, and a data processing circuit. The device utilizes the induced potential signal generated in the detection coil wound on the stator of the high-speed permanent magnet synchronous motor when it is running, and obtains the three-dimensional spectrum of the induced potential signal through the data processing algorithm. The three-dimensional spectrograms obtained under the operating conditions are compared, and finally the diagnosis of the permanent magnet demagnetization fault of the high-speed permanent magnet synchronous motor is carried out according to the comparison results. The device can effectively detect the permanent magnet demagnetization fault of the high-speed permanent magnet synchronous motor online, and can judge the permanent magnet demagnetization failure mode and accurately determine the specific location of the permanent magnet demagnetization failure. It is suitable for high-speed permanent magnet synchronous motors. The system performs the diagnosis of demagnetization failure.
Description
Technical Field
The invention relates to the electromechanical field, in particular to a demagnetization fault diagnosis device and a demagnetization fault diagnosis method for a permanent magnet in the field of high-speed permanent magnet synchronous motors.
Background
The high-speed permanent magnet synchronous motor has the advantages of relatively simple structure, high power density, fast dynamic response, high operation efficiency and the like, and is widely applied to various occasions with high requirements on control performance. In the operation process of the high-speed permanent magnet synchronous motor, the temperature of the motor can be increased under complex working conditions such as frequent acceleration and deceleration and variable load operation, and the demagnetization fault of the permanent magnet can occur if the heat dissipation is not in time. Besides the temperature influence, other reasons such as armature reaction can also cause the permanent magnet to demagnetize, and when the motor operates in the states of larger torque, violent transient state and the like, the stator current can bring stronger demagnetization, so that the probability of generating demagnetization faults is improved. The demagnetization fault can not only cause the reduction of the flux linkage amplitude of the high-speed permanent magnet synchronous motor rotor, but also can generate a large amount of interference signals such as current harmonic waves, torque harmonic waves and the like, so that the torque precision of the motor is reduced, the stability and the reliability of the motor are influenced, even the motor can be damaged, and the great loss is caused, therefore, the detection of the demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor is an important work for ensuring the stable operation of the motor.
In the related art, most of the online fault detection is performed based on spectrum analysis, such as armature current spectrum or vibration spectrum analysis, and the main advantage of these methods is that an accurate machine model and additional hardware are not required. However, the actual operating environment of the motor is complex, and the problems of frequency aliasing, signal energy leakage, interference harmonic signals caused by an inverter and the like are easy to occur, so that the fault characteristic frequency is difficult to identify, and the frequency spectrum analysis is influenced. And when the motor running speed is not stable, the harmonic order is difficult to determine, and the motor is only suitable for a no-load motor and cannot give consideration to the running working condition that the load and the speed change. The other part is to use the flux linkage information of the permanent magnet to diagnose the demagnetization fault of the permanent magnet, but the method cannot distinguish the local demagnetization fault from the uniform demagnetization fault, and cannot determine the specific demagnetization part of the permanent magnet.
Disclosure of Invention
The technical problem of the invention is solved: aiming at the problems that the existing method for detecting the demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor is not suitable for the working conditions of load and speed change and the permanent magnet demagnetization fault mode is difficult to distinguish and the local demagnetization fault position is difficult to determine, the device and the method for diagnosing the demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor are provided, are used for monitoring the demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor in real time, obtain the current magnetic field state of the permanent magnet of the motor according to the relation between the data processing result and the alarm value by processing the induced potential signal in the detection coil in an online manner, diagnose the demagnetization fault, judge the mode, the degree and the position of the demagnetization fault, and realize the real-time online monitoring and diagnosis of the demagnetization fault of the permanent magnet
The technical solution of the invention is as follows: a demagnetization fault diagnosis device for a permanent magnet of a high-speed permanent magnet synchronous motor comprises:
the detection coil 1: each group of detection coils has the same specification and turns, and the winding position of each group of detection coils is as close to the bottom of the stator teeth as possible. And the detection coil terminal is connected with the data processing circuit, and when the demagnetization fault diagnosis device operates, the detection coil inputs the obtained induced potential signal to the data processing circuit for processing.
A data processing circuit: the device comprises a DSP circuit 2, a detection coil information interface circuit 3, an external interface circuit 4 and a communication circuit 5. The DSP circuit 2 communicates with an upper computer through a communication circuit 5 in the running process of the motor, receives a control instruction and transmits a voltage signal acquired by the detection coil information interface circuit 3 to the upper computer through an external interface circuit 4. The DSP circuit 2 receives analog signal input through an AD interface in the peripheral interface circuit 4 and executes related operations, and outputs related instructions through a DA interface and an IO interface according to control instructions. In the operation process of the permanent magnet demagnetization fault diagnosis device, the detection coil information interface circuit 3 continuously outputs real-time induction potential signals generated at the motor stator position and induced in each group of detection coils 1 to the DSP circuit 2, corresponding data processing algorithms are executed by using the signals to draw a three-dimensional frequency spectrum diagram, the three-dimensional frequency spectrum diagram is compared with the three-dimensional frequency spectrum diagram obtained under the normal operation condition of the high-speed permanent magnet synchronous motor, and demagnetization faults of the permanent magnet of the high-speed permanent magnet synchronous motor are diagnosed according to the comparison result.
Detection coil information interface circuit 3: mainly comprises a voltage interface circuit. The voltage interface circuit is connected with the DSP circuit 2, and in the operation process of the permanent magnet demagnetization fault diagnosis device, the detection coil information interface circuit 3 amplifies the analog induced potential signals generated at the motor stator induced in each group of detection coils 1 and then inputs the amplified signals into the AD conversion chip for processing.
Peripheral interface circuit 4: the device comprises an AD interface, a DA interface and an IO interface, and all the parts run in parallel and independently and are connected with the DSP circuit 2. In the operation process of the permanent magnet demagnetization fault diagnosis device, an external analog voltage signal is received and input into the DSP circuit 2, the output quantity in the DSP circuit 2 can be converted into an analog voltage signal through the DA interface to be output, and the IO interface can receive external 0-24V digital signal instruction input.
The communication circuit 5: the intelligent control system comprises an RS485 interface, a CAN interface and a USB interface, wherein all the parts run in parallel and independently and are connected with a DSP circuit 2. In the operation process of the permanent magnet demagnetization fault diagnosis device, the USB interface is connected with an upper computer, the RS485 interface and the CAN interface are used as bus systems to be connected with other hosts, the control instruction of the upper computer is transmitted to the DSP circuit 2 in real time, and meanwhile, the induced potential signal in the detection coil 1 is transmitted in real time.
According to another aspect of the present invention, a demagnetization fault diagnosis method for a permanent magnet of a high-speed permanent magnet synchronous motor is further provided, which includes the following steps:
(1) firstly, real-time induced potential signals generated at the motor stator and induced in each group of detection coils are received through a detection coil information interface circuit, and the induced potential signals are subjected to primary processing by using an instrument amplifier.
(2) And secondly, transmitting the analog induced potential signal after the primary processing to an AD conversion circuit through an external interface circuit to perform AD conversion on the analog induced potential signal to obtain a digital induced potential signal.
(3) And transmitting the digital induced potential signal to the DSP by using the SPI through the peripheral interface circuit, and performing Hilbert-Huang conversion on the digital induced potential signal in the DSP to obtain a three-dimensional spectrogram.
(4) And finally, comparing and analyzing the three-dimensional frequency spectrogram of the real-time induced potential signal generated at the motor stator and the three-dimensional frequency spectrogram of the induced potential signal generated at the normal motor stator under the working condition of the same rotating speed, and distinguishing demagnetization modes of the demagnetization fault and determining the demagnetization position of the permanent magnet of the high-speed permanent magnet synchronous motor according to the comparison result, thereby realizing the detection and diagnosis of the demagnetization fault of the permanent magnet.
Compared with the prior art, the invention has the advantages that:
the invention directly collects the induced potential signals at the motor stator by additionally arranging the detection coil at the motor stator, directly measures the air gap flux without depending on machine parameters, and simultaneously detects and diagnoses the demagnetization mode and the demagnetization position of the demagnetization fault of the permanent magnet by utilizing the obtained isogeny relation between corresponding three-dimensional frequency spectrograms based on a DSP system frame structure for data signal processing. Compared with the existing demagnetization fault diagnosis system for the permanent magnet of the high-speed permanent magnet synchronous motor, the system has the following advantages:
(1) the device provided by the invention does not depend on machine parameters, carries out fault diagnosis through the induced potential signals acquired by the detection coil in real time, is not influenced by interference harmonic signals caused by frequency aliasing, signal energy leakage, an inverter and the like, and has good stability.
(2) The device carries out fault diagnosis through induced potential signals acquired by the detection coils in real time, and the detection coils are arranged on each stator tooth, so that the magnetic fields of all tooth parts on the circumference of the stator can be detected, the detection range covers the whole circumference, and the fault position of the motor permanent magnet with local demagnetization fault can be accurately positioned.
(3) The device carries out fault diagnosis through the induced potential signals acquired by the detection coil in real time, and for high-power commercial and industrial applications, the cost is not increased too much by additionally arranging a thin copper wire in the motor as the detection coil, but the reliability of the system is greatly improved.
(4) The invention processes the induced potential signal through Hilbert-Huang transform to diagnose the demagnetization fault, the Hilbert-Huang transform is not limited by uncertainty principle, time and frequency can reach high precision at the same time, effective diagnosis can be carried out under the working condition of motor load and speed change, non-stationary signals can be well processed, and demagnetization fault modes of the permanent magnet of the motor can be distinguished.
Drawings
FIG. 1 is a block diagram of the structure of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the installation location of the search coil and the numbering of the permanent magnets of the present invention;
FIG. 3 is a DSP circuit of the present invention;
FIG. 4 is a detection coil information interface circuit of the present invention;
FIG. 5 is a peripheral interface circuit according to the present invention;
FIG. 5(a) is an AD interface circuit of the present invention;
FIG. 5(b) is a DA interface circuit of the present invention;
FIG. 5(c) is an IO interface circuit of the present invention;
FIG. 6 is a communication circuit of the present invention;
FIG. 7 is a flow chart of a diagnostic method of the present invention;
FIG. 7(a) is a general flow chart of the diagnostic method of the present invention;
FIG. 7(b) is a specific process of collecting induced potential signals according to the present invention;
FIG. 7(c) is a diagnostic process flow embodying the present invention;
FIG. 8 is a block diagram of a data processing algorithm of the present invention.
In the figure: the device comprises a detection coil 1, a DSP circuit 2, a detection coil information interface circuit 3, an external interface circuit 4 and a communication circuit 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
As shown in fig. 1, the present invention mainly comprises a high-speed permanent magnet synchronous motor, a detection coil 1 wound on a motor stator, and a data processing circuit, wherein the data processing circuit comprises a DSP circuit 2, a detection coil information interface circuit 3, an external interface circuit 4, and a communication circuit 5.
The DSP circuit 2 is a system core circuit and is connected with the detection coil information interface circuit 3, the peripheral interface circuit 4 and the communication circuit 5, and the detection coil 1 is connected with the detection coil information interface circuit 3. During the operation process of the demagnetization fault diagnosis system of the permanent magnet, the demagnetization fault diagnosis system carries out real-time communication with a PC upper computer through the communication circuit 5, receives instructions of the upper computer and simultaneously sends the state real-time information of the permanent magnet of the motor to the upper computer. The system can also receive analog signals and digital signals through an AD interface and an IO interface in the peripheral interface circuit 4, transmit the signals to the DSP circuit 2 for corresponding processing, and simultaneously convert execution results into analog signals through a DA interface in the peripheral interface circuit 4 for output.
After the system starts to operate, the detection coil information interface circuit 3 firstly receives collected analog induced potential signals from the detection coil 1 wound at the stator of the motor, then converts the analog induced potential signals into digital signals by using an AD conversion chip, then the DSP circuit 2 receives the digital induced potential signals through an AD interface in the peripheral interface circuit 4, and data processing is carried out on the digital signals in the DSP circuit 2 to obtain a three-dimensional spectrogram. And comparing and analyzing the three-dimensional spectrogram with a three-dimensional spectrogram of an induced potential signal obtained from a normal motor detection coil under the same working condition to finally obtain the permanent magnet field state of the high-speed permanent magnet synchronous motor, and completing the detection and diagnosis of the demagnetization fault of the permanent magnet.
As shown in FIG. 2, since there is a small amount of leakage flux near the top of the stator teeth and there is almost no leakage flux near the bottom of the stator teeth, the detection coil of the present invention is installed near the bottom of the stator teeth to collect the induced potential generated at the stator of the motor. Each permanent magnet of the motor is numbered, so that the position of the demagnetization permanent magnet of the motor with local demagnetization faults can be accurately judged. The number of pole pairs of the motor to be diagnosed is 2, and the permanent magnets of the motor to be diagnosed are labeled in sequence: 1. 2, 3 and 4.
As shown in fig. 3, the DSP circuit 2 of the present invention selects the TMS320F28062 of TI as a core operation chip, which has a C2000 architecture core, can operate at a dominant frequency of 90MHz, has a 32-bit single-precision floating point unit, can operate a code independently of the main CPU, can directly access an ADC result register, and can efficiently execute a signal conversion operation and a data processing algorithm.
As shown in fig. 4, the voltage interface circuit in the detection coil information interface circuit 3 of the present invention is composed of an amplifier operational amplifier chip for an AD620 instrument, and amplifies and filters the analog induced potential signal collected by the detection coil 1, and then transmits the amplified signal to the DSP circuit 2 through the external interface circuit 4.
As shown in fig. 5(a) - (c), the peripheral interface circuit 4 according to the present invention is composed of an AD interface, a DA interface, and an IO interface, which operate independently, in parallel. The AD interface adopts an AD7606 chip, the chip can realize 16-bit 8-path synchronous sampling input, can process 10V and 5V true bipolar input signals, has a sampling rate of 200kSPS, and an SPI bus interface on the chip can be directly connected with the DSP circuit 2, and has a higher transmission rate. The DA interface adopts TLV5614-EP chip of TI company, the output range is 0-5V, and the DSP circuit 2 is connected with the chip through an SPI interface in the chip. The IO interface adopts an optical coupling chip K1010C, the chip has a 5-24V digital signal input range and the highest 1KHz speed, and a received control signal can be converted into a 3.3V CMOS signal to be input into the DSP circuit 2.
As shown in fig. 6, the communication circuit 5 of the present invention is composed of an RS485 interface, a CAN interface, and a USB interface, which operate independently, in parallel. The RS485 interface and the CAN interface respectively adopt a MAX3486 chip and a SN65HVD320 chip, and the interfaces CAN be connected with the DSP circuit 2 and a corresponding bus system. The USB interface adopts a CH340N chip, the chip has a USB-to-serial port function, an external crystal oscillator is not needed, and the real-time communication between the DSP circuit 2 and an upper computer can be realized.
The schematic flow chart of the demagnetization fault diagnosis method of the permanent magnet of the high-speed permanent magnet synchronous motor is shown in fig. 7. The method mainly comprises a general flow of the diagnosis method shown in fig. 7(a), a specific flow of acquiring induction potential signals shown in fig. 7(b), and a specific flow of the diagnosis process shown in fig. 7 (c).
The general flow of the diagnosis method of the invention is as follows: firstly, U-shaped enameled wires with the same wire diameter are installed at the bottom of each stator tooth of a high-speed permanent magnet synchronous motor to be diagnosed to serve as detection coils, terminals of each group of detection coils are connected with a data acquisition circuit, and induced potential signals in each group of detection coils are acquired. And then, transmitting the acquired multi-channel induced potential signals to a DSP circuit after amplification filtering and AD conversion, drawing a three-dimensional spectrogram by using a data processing algorithm Hilbert-Huang transform, comparing and analyzing the three-dimensional spectrogram with the three-dimensional spectrogram obtained under the corresponding normal motor operation condition, and finally finishing the diagnosis work of the demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor according to a comparison result.
The specific process for acquiring the induction potential signal comprises the following steps:
firstly, acquiring an induced potential signal in each group of detection coils in a mechanical cycle when a motor to be diagnosed normally runs at a rated rotating speed, and marking the signal as eratedWherein, a mechanical cycle refers to the time elapsed for the motor rotor to be diagnosed to run for one circle. Then using the formula er＝r/rrated×eratedRespectively calculating the induced potential signals of each group of detection coils in a mechanical cycle when the motor to be diagnosed normally runs at different rotating speeds, wherein erThe induced potential of each group of detection coils in one mechanical period is the induced potential of the motor to be diagnosed in normal condition when the motor to be diagnosed operates at different rotating speeds, r is the rotating speed of the motor to be diagnosed in actual operationratedTo be diagnosed motorRated rotational speed of eratedThe method is characterized in that the induced potential in one mechanical cycle of each group of detection coils is detected when the motor to be diagnosed operates under the condition of rated rotating speed under the normal condition.
The specific diagnosis process of the invention is as follows: the method comprises the steps of firstly, obtaining a three-dimensional spectrogram corresponding to induced potentials in each group of detection coils in a mechanical cycle when a motor to be diagnosed runs at different rotating speeds, and then judging whether the three-dimensional spectrogram is consistent with a three-dimensional spectrogram drawn by the induced potentials obtained by calculating according to the corresponding rotating speed under the condition that the motor to be diagnosed runs normally. If the two images are consistent, the motor is in a normal working state, and the situation that the motor to be diagnosed has no demagnetization fault of the permanent magnet can be judged; if the images are not consistent, the situation that the permanent magnet demagnetization fault of the high-speed permanent magnet synchronous motor to be diagnosed occurs can be judged. If the three-dimensional frequency spectrum graph drawn according to the calculated induced potential is consistent with the image variation trend drawn according to the induced potential collected during actual operation and the amplitude is inconsistent under the condition of the same rotating speed, the permanent magnet of the high-speed permanent magnet synchronous motor to be diagnosed is judged to have a uniform demagnetization fault; if the three-dimensional frequency spectrum graph drawn according to the calculated induced potential is locally inconsistent with the image drawn according to the induced potential collected in actual operation under the condition of the same rotating speed, the local demagnetization fault of the permanent magnet of the high-speed permanent magnet synchronous motor to be diagnosed can be judged. And finding out the corresponding detection coil according to the inconsistent part of the three-dimensional spectrogram, and determining the position of the permanent magnet with the local demagnetization fault by using the serial number of the permanent magnet of the motor to be diagnosed in advance.
The data processing algorithm principle of the invention is shown in fig. 8, and mainly comprises empirical mode decomposition and hilbert transform.
Empirical mode decomposition: firstly, extracting all local maximum values and minimum values of input signals x (t) respectively, and fitting the maximum values and the minimum values respectively in a cubic spline interpolation mode to form a maximum value envelope line emax(t) and minima envelope emin(t), simultaneously obtaining the mean value of the extreme value envelope,
subtracting the mean value of the envelope from the input signal x (t) to obtain a new signal, y1(t)＝x(t)-m1. Then according to the judgment criterion of the intrinsic mode function component:
1. the difference between the number of local extreme points and the number of zero-crossing points of the time sequence obtained by decomposition is not more than 1;
2. at any time point, the average value of the envelope (upper envelope) of the local maximum value and the envelope (lower envelope) of the local minimum value is zero, whether the new signal meets the requirement of the intrinsic mode function component or not is judged, if the new signal does not meet the requirement of the intrinsic mode function component, the new signal is used as original data, and the steps are repeated for continuous screening until the condition of the intrinsic mode function component is met. When it is recorded1(t)＝c1(t), then c1(t) is the first eigenmode function component of the input signal x (t). The residual signal r1(t)＝x(t)-c1(t) as the original signal, decomposing k times with the above decomposition step to obtain k-order eigenmode function, and recording the residual as rn(t), i.e. r2(t)＝r1(t)-c2(t)，r3(t)＝r2(t)-c3(t)，……，rn(t)＝rn-1(t)-cn(t) of (d). If the obtained margin is a monotonous signal, the intrinsic mode function can not be decomposed any more, and the empirical mode decomposition is finished. Combining the above results, and combining the eigenmode functions of each order with the remainder rn(t) reconstructing to obtain the original signal
Hilbert transform: performing Hilbert transform according to the intrinsic mode function components of each order:
where PV represents the cauchy principal value, the amplitude function and the phase function are:
construct ciThe analytic signal of (t) is:
then the instantaneous frequency is
The original signal x (t) can be expressed according to the instantaneous frequency formula as:
since both frequency and amplitude are functions of time, both of which are characteristic of the time domain, the hilbert spectrum is:
where Re is the real part of the signal decomposition, called hilbert amplitude, this expression allows to represent the signal with a fourier-like spread based on instantaneous amplitude and frequency. The original signal may be represented by the sum of the eigenmode function and the hilbert transformed amplitude. H (ω, t) is a complete time-frequency-energy combination spectrum from which both the frequency variations over different time periods and the energy variations over time and frequency can be seen. The Hilbert marginal spectrum can be obtained by integrating the time
The h (ω) marginal spectrum describes the amplitude variation of different local frequency bins, and T represents the total length of the signal time series.
Parts of the invention not described in detail are well known in the art.
The above description is only a part of the embodiments of the present invention and the description thereof, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113552483A (en) * | 2021-09-18 | 2021-10-26 | 华中科技大学 | A method and device for detecting residual magnetism defect of a permanent magnet motor |
| CN115356627A (en) * | 2022-08-17 | 2022-11-18 | 上海上电漕泾发电有限公司 | Motor fault diagnosis method and system based on stray magnetic flux detection |
| CN116643165A (en) * | 2023-05-17 | 2023-08-25 | 淮阴工学院 | Method for detecting loss-of-magnetism fault of permanent magnet outer rotor roller motor |
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